Processing system, robot system, control device, teaching method, and storage medium

Abstract

Provided are a processing system, a robot system, a control device, a teaching method, and a storage medium, which can more easily set a teaching point. The processing system teaches a robot a motion. The robot includes a detector including a plurality of detection elements arranged along a first direction and a second direction intersecting the first direction, and a robot hand on which the detector is mounted. The processing system causes the detector to perform an investigation of transmitting an ultrasonic wave and detecting a reflected wave with respect to a welding portion of a joint body. The processing system calculates a center position of the welding portion on a first face along the first direction and the second direction, based on first intensity data representing an intensity of the reflected wave obtained by the investigation. The processing system sets a teaching point of the robot based on a first position of the detector on the first face when a distance between the center position and the first position is equal to or less than a first threshold value. The processing system causes the detector to move to a second position along the first face so as to reduce the distance when the distance exceeds the first threshold value, and sets the teaching point based on the second position.

Description

TECHNICAL FIELD

[0001] Embodiments of the present application generally relate to a processing system, a robot system, a control device, a teaching method, and a storage medium. BACKGROUND

[0002] There is a robot that inspects a bonded body. For this robot, a technique is required that can more easily set a teaching point at the time of inspection. SUMMARY

[0003] Embodiments of the present application provide a processing system, a robot system, a control device, a teaching method, and a storage medium that can more easily set a teaching point.

[0004] According to an embodiment of the present application, a processing system teaches a robot a motion. The robot includes a detector including a plurality of detection elements arranged along a first direction and a second direction intersecting the first direction, and a robot hand on which the detector is mounted. The processing system causes the detector to perform an investigation of transmission of an ultrasonic wave and detection of a reflected wave on a welded portion of a bonded body. The processing system calculates a center position of the welded portion on a first plane along the first direction and the second direction, based on first intensity data representing intensities of the reflected wave obtained by the investigation. The processing system sets a teaching point of the robot based on a first position of the detector on the first plane, in a case where a distance between the center position and the first position is equal to or less than a first threshold value. The processing system causes the detector to move to a second position along the first plane so as to reduce the distance, in a case where the distance exceeds the first threshold value, and sets the teaching point based on the second position.

[0005] According to an embodiment, a processing system, a robot system, a control device, a teaching method, and a storage medium that can more easily set a teaching point can be provided. BRIEF DESCRIPTION OF DRAWINGS

[0006] Figure 1 is a schematic view that shows a robot system of an embodiment.

[0007] Figure 2 is a schematic view that shows a configuration of a detector and a bonded body.

[0008] Figure 3 is a schematic view for explaining an action of a processing system of an embodiment.

[0009] Figure 4 is a schematic view that illustrates intensity data obtained by an investigation.

[0010] Figure 5 is a flowchart that shows a teaching method of an embodiment.

[0011] Figure 6 is a diagram showing an intensity distribution of a reflected wave obtained by processing intensity data.

[0012] Figure 7 is a diagram illustrating a determined weld.

[0013] Figure 8 is a flowchart showing a teaching method of the first modification of the embodiment.

[0014] Figure 9 is a diagram showing a detector.

[0015] Figure 10 is an example of an image obtained in the inspection.

[0016] Figure 11 is a diagram showing an intensity distribution of a reflected wave.

[0017] Figure 12 is a flowchart showing a teaching method of the second modification of the embodiment.

[0018] Figure 13 is a diagram for explaining a teaching method of the second modification of the embodiment.

[0019] Figure 14 is a flowchart showing an inspection process of the embodiment.

[0020] Figure 15 is a diagram showing a configuration of another detector.

[0021] Figure 16 is a diagram showing a hardware configuration. DETAILED DESCRIPTION

[0022] Hereinafter, each embodiment of the present application will be described with reference to the drawings.

[0023] In the specification and drawings of the present application, the same reference numerals are applied to the same elements, and detailed description thereof will be appropriately omitted.

[0024] Figure 1 is a diagram showing a robot system of the embodiment.

[0025] As shown in Figure 1 , the robot system 2 of the embodiment includes a processing system 1 and a robot 20. The processing system 1 includes a control device 10, an operation terminal 11, and a processing device 12. The processing system 1 teaches a motion to the robot 20.

[0026] The control device 10 controls the movements of the robot 20. The control device 10 is a so-called robot controller. The control device 10 includes control circuits, servo control units, power supply units, etc. The control device 10 controls the servo motors of each axis according to the pre-stored action program and the teaching data set by the operation terminal 11, thereby controlling the movements of the robot 20.

[0027] The operator terminal 11 is a terminal device used to operate the robot 20. The operator terminal 11 is a so-called teach pendant. The operator terminal 11 is connected to the control device 10 and receives inputs such as the robot 20's motion program and settings. For example, the control device 10 and the operator terminal 11 are connected via wired cable, wireless communication, or a network. Furthermore, the user can use the operator terminal 11 to modify, correct, or create new teach data. Teach data refers to the data used to teach the robot 20 its actions.

[0028] Robot 20 includes a manipulator 21 and a detector 22 mounted on the manipulator 21. For example, the manipulator 21 is a vertical articulated type. The detector 22 is located at the front end of the manipulator 21 as an end effector. The manipulator 21 can also be a horizontal articulated type or a parallel linkage type. The manipulator 21 can also include two or more combinations selected from vertical articulated, horizontal articulated, and parallel linkage types. The manipulator 21 preferably has six or more degrees of freedom.

[0029] Detector 22 performs a probe (detection) on the object. During the probe, it transmits an ultrasonic wave toward the object and detects (receives) its reflected wave. Detector 22 acquires intensity data representing the intensity of the reflected wave through the probe. Detector 22 transmits the intensity data to processing device 12 connected to control device 10. For example, control device 10 and processing device 12 are connected via wired cable, wireless communication, or a network.

[0030] exist Figure 1 In this example, as an end effector, a discharger 25 is also provided. The discharger 25 discharges coupling fluid onto the surface of the object.

[0031] The object of inspection is a joint formed by welding multiple components together. The multiple components are joined at the weld joint. The processing device 12 processes the strength data to obtain data related to the weld joint. For example, the processing device 12 uses the strength data to perform inspection processing on the weld joint. The robot system 2 performs inspection processing on multiple joints 50 of the same type separately.

[0032] Figure 2 This is a schematic diagram showing the structure of the detector and the assembly.

[0033] exist Figure 2In the example, the detection target of the detector 22 is the joined body 50. The joined body 50 includes a metal plate 51 (first member) and a metal plate 52 (second member). The metal plate 51 and the metal plate 52 are joined at a weld portion 53. That is, at the weld portion 53, there is no interface between the metal plate 51 and the metal plate 52. At the weld portion 53, there is a solidified portion 54 formed by mixing molten metals. The weld portion 53 is formed by resistance spot welding.

[0034] As shown in FIG. 2, the detector 22 includes a detection element 22a, a propagation portion 22b, a housing 22c, and a sensor 22d. Figure 2

[0035] The detection element 22a is arranged two-dimensionally in an X direction (first direction) and a Y direction (second direction). The X direction and the Y direction intersect each other. In this example, the Y direction is perpendicular to the X direction. The detection element 22a is, for example, a transducer that emits an ultrasonic wave having a frequency of 1 MHz or more and 100 MHz or less. The detection element 22a emits the ultrasonic wave in a Z direction (third direction). The Z direction is perpendicular to an X-Y plane (first plane).

[0036] A plurality of detection elements 22a are provided at a front end of the housing 22c and are covered by the propagation portion 22b. When the detector 22 is brought into contact with the joined body 50, the propagation portion 22b is located between the detection element 22a and the joined body 50. If the detection element 22a emits an ultrasonic wave, the ultrasonic wave propagates in the propagation portion 22b and is emitted to the outside of the detector 22. If the ultrasonic wave is reflected, the reflected wave propagates in the propagation portion 22b and reaches the detection element 22a.

[0037] The detection element 22a detects the reflected wave. The intensity of the signal detected by the detection element 22a corresponds to the intensity of the reflected wave. The detector 22 acquires a signal (intensity data) indicating the intensity of the reflected wave and transmits it to the processing device 12.

[0038] The propagation portion 22b is made of a resin material or the like that easily propagates an ultrasonic wave. By the propagation portion 22b, it is possible to suppress deformation, damage, or the like of the detection element 22a when the detector 22 is brought into contact with the weld portion 53. The propagation portion 22b has sufficient hardness to suppress deformation, damage, or the like when brought into contact with the weld portion 53.

[0039] The sensor 22d is attached to the housing 22c and detects contact of the detector 22 with the joined body 50. The sensor 22d is, for example, a force sensor, an acceleration sensor, an angular velocity sensor, a light-shielding sensor, or a distance measuring sensor.

[0040] At the time of the investigation, a coupling liquid 55 is applied to the surface of the joined body 50 so that an ultrasonic wave easily propagates between the detector 22 and the joined body 50. Each detection element 22a emits an ultrasonic wave US to the joined body 50 to which the coupling liquid 55 is applied.​

[0041] As shown in (a) of FIG. 2, for example, one of the detection elements 22a transmits an ultrasonic wave US to the joint body 50. A part of the ultrasonic wave US is reflected at the upper surface or the lower surface of the joint body 50 or the like. The plurality of detection elements 22a respectively detect the reflected wave RW. In the investigation, each of the detection elements 22a transmits the ultrasonic wave US in turn, and the respective reflected waves RW are detected by the plurality of detection elements 22a. Figure 2

[0042] The processing device 12 performs various processes using the intensity data. For example, the processing device 12 inspects the weld 53. The processing device 12 can also determine the position of the weld 53 on the joint body 50. The processing device 12 can also calculate the center position of the weld 53. The processing device 12 can also calculate the diameter of the weld 53.

[0043] Figure 3 (a) to (c) of FIG. 4 are schematic diagrams for illustrating the action of the processing system of the embodiment. Figure 3

[0044] As shown in (a) of FIG. 2, for example, one of the detection elements 22a transmits an ultrasonic wave US to the joint body 50. A part of the ultrasonic wave US is reflected at the upper surface or the lower surface of the joint body 50 or the like. The plurality of detection elements 22a respectively detect the reflected wave RW. In the investigation, each of the detection elements 22a transmits the ultrasonic wave US in turn, and the respective reflected waves RW are detected by the plurality of detection elements 22a. Figure 3

[0045] The positions in the Z direction of the surface of the propagation portion 22b, the upper surface 51a, the upper surface 53a, the lower surface 51b, and the lower surface 53b are different from each other. That is, the respective distances in the Z direction between these surfaces and the detection elements 22a are different from each other. If the detection elements 22a detect the reflected waves from these surfaces, the detection elements 22a detect the peak values of the reflected wave intensities. By calculating the time from the transmission of the ultrasonic wave US until each peak value is detected, it is possible to determine which surface reflected the ultrasonic wave US.

[0046] Figure 3 (b) and (c) of FIG. 4 are line graphs each illustrating the relationship between the time after the transmission of the ultrasonic wave US and the intensity of the reflected wave RW at a point in the X-Y plane. In (b) of FIG. 4, Figure 3 Figure 3 Figure 3 In (b) and (c) of FIG. 4, the horizontal axis indicates the intensity of the detected reflected wave RW. The vertical axis indicates the elapsed time after the transmission of the ultrasonic wave US. The time corresponds to the position in the Z direction. Figure 3 The line graph of (b) of FIG. 4 illustrates the detection results of the reflected waves RW from the surface of the propagation portion 22b, the upper surface 51a, and the lower surface 51b. That is, the line graph of (b) of FIG. 4 illustrates the detection results of the reflected waves RW from the surfaces of the metal plate 51. Figure 3 The line graph of (b) of FIG. 4 illustrates the detection results of the reflected waves RW from the surface of the propagation portion 22b, the upper surface 51a, and the lower surface 51b. That is, the line graph of (b) of FIG. 4 illustrates the detection results of the reflected waves RW from the surfaces of the metal plate 51. Figure 3 ​​​​​The line graph of (c) illustrates the detection result of the reflected wave RW from the surface of the propagation section 22b, the upper surface 53a, and the lower surface 53b. That is, Figure 3 The line graph of (c) illustrates the detection result of the reflected wave RW from the point that has been joined.

[0047] In Figure 3 The line graphs of (b) and Figure 4 In the line graph of (c), the peak value Pe10 is based on the reflected wave RW from the surface of the propagation section 22b. The peak value Pe11 is based on the reflected wave RW from the upper surface 51a. The peak value Pe12 is based on the reflected wave RW from the lower surface 51b. The time from the transmission of the ultrasonic wave US until the peak value Pe11 and the peak value Pe12 are detected respectively corresponds to the position in the Z direction of the upper surface 51a and the lower surface 51b.

[0048] Similarly, the peak value Pe13 is based on the reflected wave RW from the upper surface 53a. The peak value Pe14 is based on the reflected wave RW from the lower surface 53b. The time from the transmission of the ultrasonic wave US until the peak value Pe13 and the peak value Pe14 are detected respectively corresponds to the position in the Z direction of the upper surface 53a and the lower surface 53b.

[0049] The processing device 12 determines whether there is the peak value Pe12 in the reflected wave intensity distribution in the Z direction of each point in the X-Y plane. Specifically, the processing device 12 detects a peak value in the range of the Z direction in which the peak value Pe12 can be detected. The processing device 12 compares the peak value intensity with a threshold value. The range of the Z direction and the threshold value are set in advance.

[0050] In the case where the peak value intensity exceeds the threshold value, the processing device 12 determines that the peak value is the peak value Pe12. The presence of the peak value Pe12 indicates that the lower surface 51b exists at the point and the metal plate 51 and the metal plate 52 are not joined. The processing device 12 determines the point at which the peak value Pe12 is detected as not joined. The processing device 12 determines the point at which the peak value Pe12 is not detected as joined. The processing device 12 successively determines whether each point in the X-Y plane is joined. The processing device 12 determines the set of points determined as joined as the welded portion 53.

[0051] For example, the processing device 12 determines the welded portion 53 and calculates the diameter of the welded portion 53 in the inspection process. The processing device 12 compares the diameter with a threshold value set in advance. In the case where the diameter exceeds the threshold value, the processing device 12 determines the welded portion 53 as acceptable. In the case where the diameter is equal to or less than the threshold value, the processing device 12 determines the welded portion 53 as unacceptable. The diameter compared with the threshold value is the major axis or the minor axis of the welded portion 53.

[0052] In Figure 2 The line graphs of (b) and Figure 4In the example of (c) of FIG. 9, the intensity of the reflected wave RW is expressed by an absolute value. The intensity of the reflected wave can also be expressed in any manner. For example, the intensity of the reflected wave output from the detection element 22a includes positive and negative values depending on the phase. Various processes can also be performed based on the intensity of the reflected wave including positive and negative values. The intensity of the reflected wave including positive and negative values can also be converted into an absolute value. The intensity of the reflected wave at each time can also be subtracted by the average value of the intensity of the reflected wave. Alternatively, the intensity of the reflected wave at each time can also be subtracted by the weighted value, the weighted moving average value, or the like of the intensity of the reflected wave. Filtering can also be performed so as to extract only the frequency component of a certain period. Even in the case where the result obtained by applying these processes to the intensity of the reflected wave is used, the various processes explained in the present application can be performed.

[0053] Figure 4 FIG. 10 is a diagram illustrating the intensity data obtained by the probe.

[0054] In the probe, as described above, the respective detection elements 22a sequentially transmit the ultrasonic waves, and the respective reflected waves are detected by the plurality of detection elements 22a. In the probe, the respective detection elements 22a sequentially transmit the ultrasonic waves, and the respective reflected waves are detected by the plurality of detection elements 22a. Figure 4 In the specific example shown in FIG. 10, 64 detection elements 22a are provided in total. In this case, the 64 detection elements 22a sequentially transmit the ultrasonic waves. One detection element 22a repeatedly detects the reflected wave 64 times. The detection result of the intensity distribution of the reflected wave in the Z direction for 64 times is output from one detection element 22a. The intensity distribution of the reflected wave for 64 times output from one detection element 22a is aggregated. The intensity distribution obtained by the aggregation is the intensity distribution at the position of one detection element 22a provided in one probe. The same process is performed for the respective detection results of the 64 detection elements 22a. For the detection result of each detection element 22a, aperture synthesis can also be performed in order to improve the resolution in the X direction and the Y direction. Through the above process, the intensity distribution of the reflected wave in the Z direction is generated at each point in the X-Y plane (first plane). That is, three-dimensional intensity data including the intensity of the reflected wave at each point in the X direction, the Y direction, and the Z direction can be obtained.

[0055] Figure 4 The three-dimensional intensity distribution is schematically shown in FIG. 11. Figure 5 In the diagram of FIG. 11, the appearance of the three-dimensional intensity data around the weld 53 is shown. In the diagram of FIG. 11, the intensity of the reflected wave is expressed by an absolute value. Figure 2 In the diagram of FIG. 11, the portion with high brightness is the portion where the intensity of the reflected wave of the ultrasonic wave is relatively large. In the diagram of FIG. 11, the reflected wave from the upper surface and the lower surface of the weld 53 and the reflected wave that has undergone multiple reflection between the upper surface and the lower surface of the weld 53 appear. Figure 6

[0056] ​In a case where data relating to the weld portion is obtained in the inspection process, the control device 10 causes the robot 21 to act so that the tip of the detector 22 comes into contact with the weld portion 53. The position and posture of the tip of the detector 22 at the time of the probe in the inspection process are set as the teaching point in advance. It can also be that the position and posture of another part corresponding to the position and posture of the tip of the detector 22 are set as the teaching point. In this case, it can also be regarded that the position and posture of the tip of the detector 22 are set as the teaching point.

[0057] The control device 10 causes the robot 21 to act in accordance with the action program so that the position and posture of the tip of the detector 22 are set to the position and posture of the teaching point. Specifically, the control device 10 acquires data indicating the rotation angles of the respective actuators from the encoders provided at the respective joints of the robot 21. The control device 10 generates a control signal based on the stored teaching point and the acquired data. The control device 10 transmits the generated control signal to the robot 20, and moves the robot 21 by causing the respective actuators to act.

[0058] The processing system 1 of the embodiment teaches the robot 20 an action. The processing system 1 can be used for setting of the teaching point of the robot 20. The processing system 1 sets the teaching point using the intensity data transmitted from the detector 22.

[0059] Figure 6 is a flowchart showing a teaching method of the embodiment.

[0060] The user causes the tip of the detector 22 to approach the weld portion 53. The weld portion 53 is coated with a coupling liquid. The detector 22 comes into contact with the weld portion 53 (step S1). For example, the user moves the robot 21 with hands or the operation terminal 11 so that the tip of the detector 22 comes into contact with the weld portion 53. Alternatively, the control device 10 can move the robot 21 so that the detector 22 comes into contact with the weld portion 53 after the user causes the detector 22 to approach the weld portion 53. The processing system 1 executes a position teaching process (step S10).

[0061] In the position teaching process, the processing device 12 causes the detector 22 to perform a probe in a state where the detector 22 is in contact with the weld portion 53 (step S11). The detector 22 acquires intensity data (first intensity data) indicating the intensity of the reflected wave by the probe (step S12). The processing device 12 receives the intensity data from the detector 22. The processing device 12 calculates a center position of the weld portion 53 on the X-Y plane based on the intensity data (step S13). The processing device 12 transmits the center position to the control device 10. The control device 10 refers to the position of the detector 22 on the X-Y plane (first position). The control device 10 compares the distance between the received center position and the first position with a threshold value (first threshold value) set in advance (step S14).

[0062] For example, the position on the X-Y plane of the detector 22 corresponds to the center position on the X-Y plane of the intensity data. In this case, the center position of the weld 53 calculated on the basis of the intensity data corresponds to the distance between the center position of the weld 53 and the center position on the X-Y plane of the intensity data. Therefore, in step S14, the control device 10 compares the received center position of the weld 53 with a predetermined threshold value (first threshold value).

[0063] In the case where the distance is below the threshold value, the control device 10 sets a teaching point on the basis of the first position (step S15). For example, the control device 10 sets the first position as the position of the teaching point. The control device 10 can also set a position obtained by an operation on the first position as the position of the teaching point.

[0064] In the case where the distance exceeds the threshold value, the control device 10 moves the detector 22 along the X-Y plane so as to reduce the distance (step S16). At this time, the control device 10 can also move the detector 22 away from the joint 50 in order to avoid friction of the detector 22 with the joint 50. The control device 10 moves the detector 22 along the X-Y plane after moving the detector 22 away from the joint 50. Thereafter, the control device 10 brings the detector 22 into contact with the joint 50.

[0065] The control device 10 refers to the position on the X-Y plane of the detector 22 after the movement (second position). The control device 10 sets a teaching point on the basis of the second position (step S17). For example, the control device 10 sets the second position as the position of the teaching point. The control device 10 can also set a position obtained by an operation on the second position as the position of the teaching point.

[0066] The control device 10 can also execute step S14 again after step S16. In this case, the distance between the center position and the position of the detector 22 is compared with the threshold value again. Step S16 is repeated until the distance becomes below the threshold value. Thus, the position of the teaching point can be set more appropriately. The control device 10 stores the set teaching point (step S18).

[0067] Figure 6 The XYZ coordinate system shown can also be different from the robot coordinate system used for the table teaching point. The control device 10 or the processing device 12 can also appropriately convert the center position calculated in step S13 into the robot coordinate system. The control device 10 or the processing device 12 can also appropriately convert the position on the X-Y plane of the detector 22 into the robot coordinate system when setting the teaching point.

[0068] The method of calculating the center position of the weld 53 in the above-described teaching method will be described. The center position can be calculated using any one of the following methods.

[0069] Figure 6 (a)~ Figure 6 (c) is a schematic diagram showing the intensity distribution of the reflected wave obtained by processing the intensity data.

[0070] Processing device 12 processes the intensity data to obtain... Figure 6 (a)~ Figure 6 The data shown in (c) is as follows. Figure 6 (a) represents the intensity distribution of the reflected wave on the XY plane near the welded part 53. Figure 6 (b) represents the intensity distribution of the reflected wave on the YZ plane near the weld 53. Figure 6 (c) represents the intensity distribution of the reflected wave on the XZ surface near the weld 53.

[0071] Figure 6 The data in (a) are obtained by summing the intensities at each point on the XY plane along the Z direction. Figure 6 The data in (b) are obtained by summing the intensities at each point in the Z direction along the X direction. Figure 6 The data in (c) are obtained by summing the intensities along the Y direction at points in the Z direction. Figure 6 (a)~ Figure 6 In (c), the intensity of the reflected wave is schematically represented by binarization. White dots indicate that the intensity of the reflected wave at that point is relatively high. Black dots indicate that the intensity of the reflected wave at that point is relatively low.

[0072] For example, the processing device 12 is for Figure 7 The intensity distribution of the reflected wave on the XY plane shown in (a) is used to calculate the centroid position of the intensity, which is then taken as the center position of the weld 53. For example, as shown in (a)... Figure 7 As shown in (a), the position of the luminance centroid in a binarized image can also be calculated. Alternatively, the position of the luminance centroid can be calculated for an image in which each pixel has a pixel value of any of the order 3 or higher (e.g., 0 to 255).

[0073] Alternatively, the processing device 12 can also extract the reflected wave component from the welded portion 53 in the Z direction and calculate the center of gravity position. For example, as Figure 7 (b) and Figure 4 As shown in (c), the period of the reflected wave detected from the weld portion 53 is different from the period of the reflected wave detected from other parts. The processing device 12 filters the intensity distribution in the Z direction using a preset thickness of the weld portion 53. Thus, the processing device 12 extracts the reflected wave component from the weld portion 53. The processing device 12 calculates the centroid position of the intensity distribution on the filtered XY plane as the center position of the weld portion 53.

[0074] Alternatively, the processing device 12 can also determine the weld 53 and calculate the center position based on the determined weld 53.

[0075] Figure 7 is a diagram illustrating the determined weld.

[0076] Figure 7 represents the result of the determination of the joining or non-joining at each point of the X-Y plane where the probing is performed. The range in the X direction and the range in the Y direction of the region where the determination of the joining or non-joining is performed correspond to the range in the X direction and the range in the Y direction where the intensity data is obtained. As one example, Figure 8 The range in the X direction and the range in the Y direction of the two-dimensional data shown correspond to the range in the X direction and the range in the Y direction where the intensity data is obtained. Figure 8 The range in the X direction and the range in the Y direction of the three-dimensional intensity data shown correspond to the range in the X direction and the range in the Y direction where the intensity data is obtained, respectively. A part of the range where the intensity data is obtained can also be extracted in the X direction and the Y direction, and the determination of the joining or non-joining can be performed with respect to the extracted region. In this case, the range in the X direction and the range in the Y direction of the two-dimensional data shown correspond to the range in the X direction and the range in the Y direction where the intensity data is obtained. Figure 9 In, the points determined to be joined based on the intensity data are represented in white. The points determined to be non-joined are represented in black. The set of the points determined to be joined is determined as the weld 53. The processing device 12 generates the two-dimensional data shown in using the result of the determination of the joining at each point. Figure 9 The two-dimensional data shown in.

[0077] The processing device 12 can also calculate the center of gravity position on the X-Y plane of the determined weld 53 as the center position of the weld 53. As described above, the weld 53 can be determined by determining the joining or non-joining at each point in the X-Y plane. The processing device 12 can also calculate the center of the inscribed or circumscribed circle of the determined weld 53 in the X-Y plane as the center position of the weld 53.

[0078] If the teaching point is set, the robot system 2 performs the inspection process using the teaching point thereafter. For example, the robot system 2 performs the inspection process for the weld 53 of another joint body 50 with reference to the teaching point. At the time of performing the inspection process, the control device 10 moves the robot hand 21 and sets the position and the posture of the front end of the detector 22 to the position and the posture of the teaching point.

[0079] In a case where one joint body 50 forms a plurality of welds 53, the teaching point is set for each weld 53. After a plurality of teaching points are set, the inspection process is performed for a plurality of welds 53 of another joint body 50, respectively.

[0080] Advantages of the embodiments are described.

[0081] In order to automatically inspect the joint body 50 using the robot 21, it is necessary to teach the position and posture of the detector 22 at the time of inspection in advance. The teaching operation is performed by a teaching reproduction method. The following is a teaching method of a reference example. The user of the robot 20 prepares the joint body 50. The user visually confirms the weld portion 53 of the joint body 50. The user moves the robot 21 by hand or the operation terminal 11 so that the front end of the detector 22 contacts the center of the weld portion 53. The control device 10 sets the position and posture of the front end of the detector 22 at this time as a teaching point.

[0082] In order to make the front end of the detector 22 contact the center of the weld portion 53, it is necessary to finely adjust the position of the detector 22. In the case where the user is not accustomed to the operation, it takes a long time to set the teaching point. The position of the teaching can also be deviated. It is also possible to damage the detector 22 by making the detector 22 contact the joint body 50 during the teaching. In addition, there is a weld mark at the position where the weld portion 53 is formed. The user captures the center of the weld mark as the center of the weld portion 53 and makes the detector 22 contact the center of the weld mark. However, the center of the weld mark sometimes deviates from the actual center of the weld portion 53. If the position of the detector 22 deviates from the center of the weld portion 53, the accuracy of the inspection can be reduced. Therefore, it is desirable to have a technique that can more easily set the center of the weld portion 53 as a teaching point.

[0083] To the problem, in the processing system 1 of the embodiment, a position teaching process is executed. In the position teaching process, it is automatically determined whether the position of the detector 22 deviates from the center position of the weld portion 53 on the basis of the intensity data obtained by the survey. In the case where the position of the detector 22 deviates from the center position of the weld portion 53, the processing system 1 controls the robot 21 so that the detector 22 approaches the center position of the weld portion 53. Therefore, the user does not need to adjust the position of the detector 22. The deviation of the position of the teaching can also be suppressed. It is possible to suppress the damage of the detector 22 during the teaching. In addition, it is possible to make the position of the detector 22 coincide with the center position of the weld portion 53 that cannot be confirmed by the user visually. According to the embodiment, it is possible to more easily set the center position of the weld portion 53 as a teaching point.

[0084] (First Modification)

[0085] Figure 8 is a flowchart showing a teaching method of the first modification of the embodiment.

[0086] The posture of the detector 22 has an influence on the intensity data obtained by the survey. The posture of the detector 22 is preferably perpendicular with respect to the surface of the weld portion 53. As shown in Figure 10 It is also possible that the processing system 1 executes a posture teaching process (step S20) in addition to the position teaching process (step S10).

[0087] In the posture teaching processing, the processing device 12 causes the detector 22 to perform the probing in a state where the detector 22 is in contact with the weld (step S21). The detector 22 acquires intensity data (second intensity data) indicating the intensity of the reflected wave by the probing (step S22). The processing device 12 calculates how much the posture of the detector 22 at the time of the probing (first posture) is inclined with respect to the weld 53 on the basis of the intensity data (step S23). The processing device 12 transmits the calculated degree of inclination to the control device 10. The control device 10 compares the degree of inclination with a threshold value (second threshold value) set in advance (step S24).

[0088] In a case where the degree of inclination is below the threshold value, the control device 10 sets the posture of the teaching point on the basis of the first posture (step S25). For example, the control device 10 sets the first posture as the posture of the teaching point. The control device 10 can also set a posture obtained by the operation on the first posture as the posture of the teaching point.

[0089] In a case where the degree of inclination exceeds the threshold value, the control device 10 rotates the detector 22 around the X direction or around the Y direction to make the degree of inclination smaller (step S26). For example, the front end of the detector 22 is set as the center of rotation. The control device 10 refers to the posture of the detector 22 after the rotation (second posture). The control device 10 sets the posture of the teaching point on the basis of the second posture (step S27). For example, the control device 10 sets the second posture as the posture of the teaching point. The control device 10 can also set a posture obtained by the operation on the second posture as the posture of the teaching point.

[0090] The control device 10 can also execute step S24 again after step S26. In this case, the degree of inclination is compared with the threshold value again. Step S26 is repeated until the degree of inclination becomes below the threshold value. Thus, the posture of the teaching point can be set more appropriately. The control device 10 saves the set teaching point (step S28).

[0091] Figure 10 is a schematic view of the detector.

[0092] The posture corresponds to the direction D1 of the detector 22 shown in FIG. 2, for example. Figure 10 The direction D1 is perpendicular with respect to the arrangement direction of the plurality of detection elements 22a. The degree of inclination is indicated by the angle θx around the X direction and the angle θy around the Y direction between the direction D1 of the detector 22 and the normal direction D2 of the weld 53.

[0093] indicates Figure 10The angle of the posture shown can also differ from the angle in the robot coordinate system used to teach the point. The control device 10 or the processing device 12 can also appropriately convert the inclination calculated in step S23 into the robot coordinate system. The control device 10 or the processing device 12 can also appropriately convert the angle indicating the posture of the detector 22 into the angle in the robot coordinate system when setting the teaching point.

[0094] Figure 10 (a) of FIG. 10 Figure 10 (c) of FIG. 10 is an example of an image obtained in the inspection.

[0095] The method of calculating the inclination will be described. Figure 10 (a) of FIG. 10 is an image indicating the intensity distribution of the reflected wave on the X-Y plane in the vicinity of the weld 53. Figure 10 (b) of FIG. 10 is an image indicating the intensity distribution of the reflected wave on the Y-Z plane in the vicinity of the weld 53. Figure 10 (c) of FIG. 10 is an image indicating the intensity distribution of the reflected wave on the X-Z plane in the vicinity of the weld 53. In Figure 11 (a) to Figure 11 (c) of FIG. 10, the brightness corresponds to the intensity of the reflected wave. That is, the brighter the color of the pixel, the higher the intensity of the reflected wave at that point is indicated.

[0096] As shown in Figure 11 (b) of FIG. 10, the angle θx is calculated based on the detection results in the Y-Z plane. As shown in Figure 11 (c) of FIG. 10, the angle θy is calculated based on the detection results in the X-Z plane. Specifically, the processing device 12 calculates the average of the brightness gradient in three dimensions. The processing device 12 uses the average of the gradient around the X direction as the angle θx. The processing device 12 uses the average of the gradient around the Y direction as the angle θy.

[0097] The posture teaching process can be performed before the position teaching process or after the position teaching process. The position teaching process and the posture teaching process can also be performed based on the results of one probe.

[0098] Figure 12 (a) of FIG. 10 and Figure 13 (b) of FIG. 10 is a schematic view indicating the intensity distribution of the reflected wave.

[0099] It is preferable that the posture teaching process be performed after the position teaching process. In the case where the center position of the weld 53 deviates from the position of the detector 22, the detector 22 is inclined with respect to the weld 53, and the like, as shown in Figure 13As shown in (a) of FIG. 10, the multiple reflection wave from the weld 53 can not be detected by the detector 22. The multiple reflection wave is a reflection wave detected at a deeper position in the Z direction. If the multiple reflection wave is not detected, the accuracy of the calculated posture of the detector 22 can be reduced. By performing the position teaching process before the posture teaching process, as shown in (b) of FIG. 10, the multiple reflection wave from the weld 53 is more likely to be detected. Thus, the posture of the detector 22 can be calculated with higher accuracy. Figure 5 As shown in (a) of FIG. 10, the multiple reflection wave from the weld 53 can not be detected by the detector 22. The multiple reflection wave is a reflection wave detected at a deeper position in the Z direction. If the multiple reflection wave is not detected, the accuracy of the calculated posture of the detector 22 can be reduced. By performing the position teaching process before the posture teaching process, as shown in (b) of FIG. 10, the multiple reflection wave from the weld 53 is more likely to be detected. Thus, the posture of the detector 22 can be calculated with higher accuracy.

[0100] (Second Modification)

[0101] Figure 13 is a flowchart of the teaching method of the second modification of the embodiment. Figure 5 (a) and Figure 13 (b) of FIG. 10 are explanatory diagrams for explaining the teaching method of the second modification of the embodiment.

[0102] The teaching method of the second modification includes step S19 instead of step S1 compared to the teaching method shown in Figure 14 In step S19, the processing system 1 sets the distance in the Z direction between the detector 22 and the weld 53 to a first distance. The first distance is longer than a second distance in the Z direction between the detector 22 and the weld 53 at the time of performing the inspection process. At this time, as shown in (a) of FIG. 10, the detector 22 contacts the bonded body 50 via the coupling liquid 55. The detector 22 does not directly contact the bonded body 50.

[0103] Figure 15 After that, the processing system 1 performs steps S11 to S14 as with the teaching method shown in

[0104] In step S15a, the processing system 1 sets the teaching point based on the first position. At this time, the control device 10 sets the distance in the Z direction between the detector 22 and the weld 53 to the second distance. Thus, the detector 22 approaches the weld 53. For example, as shown in (b) of FIG. 10, the detector 22 directly contacts the bonded body 50. The processing system 1 sets the teaching point based on the first position in the X-Y plane and the position of the approached detector 22 in the Z direction. Figure 15 Figure 16

[0105] Also in step S17a, the processing system 1 sets the teaching point based on the second position. At this time, the control device 10 sets the distance in the Z direction between the detector 22 and the weld 53 to the second distance. The processing system 1 sets the teaching point based on the second position in the X-Y plane and the position of the approached detector 22 in the Z direction. ​​​

[0106] The first distance can be set by approaching the detector 22 to the joint body 50 while performing the probing. If the detector 22 is away from the joint body 50 and the coupling liquid 55, the ultrasonic wave attenuates and the reflected wave is not detected. If the detector 22 is in contact with the coupling liquid 55, the ultrasonic wave propagates in the coupling liquid 55 and the reflected wave can be detected. The control device 10 gradually approaches the detector 22 to the joint body 50 and stops the detector 22 at the time when the reflected wave is detected. Thus, the distance between the detector 22 and the joint body 50 is set to the first distance.

[0107] Alternatively, the first distance can also be set by slightly moving the detector 22 away from the joint body 50 after the detector 22 is brought into contact with the joint body 50. The control device 10 approaches the detector 22 to the joint body 50 until the contact of the detector 22 to the joint body 50 is detected by the sensor 22d. After the contact is detected, the control device 10 slightly moves the detector 22 away from the joint body 50. The distance of the movement is set in advance. Thus, the distance between the detector 22 and the joint body 50 is set to the first distance.

[0108] The detector 22 can also be gradually moved away from the joint body 50 while performing the probing after the contact is detected. The control device 10 gradually moves the detector 22 away from the joint body 50 during the detection of the reflected wave. When the reflected wave can no longer be detected, the control device 10 moves the detector 22 to the position in the Z direction where the reflected wave was last detected. Thus, the distance between the detector 22 and the joint body 50 is set to the first distance.

[0109] When the step S16 is performed, the distance in the Z direction between the detector 22 and the weld 53 is set to the first distance. That is, when the step S16 is performed, the control device 10 does not move the detector 22 away from the weld 53 but moves the detector 22 in the X-Y plane. At this time, the detector 22 is in contact with the joint body 50 via the coupling liquid. Therefore, the friction between the detector 22 and the joint body 50 can be reduced when the detector 22 is moved. In addition, since the movement of the detector 22 away from the weld 53 is not required, the time required to perform the teaching method can be shortened.

[0110] In the teaching method of the second modification, the posture teaching process can also be performed as in the first modification. As described above, the posture teaching process is preferably performed after the position teaching process.

[0111] Figure 16 is a flowchart showing the inspection process of the embodiment.

[0112] If the teaching point is set by any of the above-described teaching methods, the robot system 2 performs the inspection process (step S30). The control device 10 discharges the coupling liquid 55 from the discharger 25 to the joint body 50 (step S31). The control device 10 causes the robot arm 21 to operate, and sets the position and posture of the detector 22 to the position and posture of the teaching point (step S32). The control device 10 causes the detector 22 to perform the probe of the welded portion 53 (step S33). The processing device 12 determines the welded portion 53 based on the obtained intensity data (third intensity data) (step S34). The processing device 12 inspects the welded portion 53 (step S35). In the inspection, for example, the diameter of the welded portion 53 is compared with a threshold value. The processing device 12 saves the inspection result (step S36).

[0113] According to the teaching method and the processing method including the inspection process, the center position of the welded portion 53 can be more easily set as the teaching point, and the welded portion 53 can be inspected using the set teaching point.

[0114] ​ is a schematic view showing the configuration of another detector.

[0115] In the above, an example in which the coupling liquid 55 is used when the probe is performed is described. If a propagation member that can be deformed according to the shape of the welded portion 53 is provided in the detector, the coupling liquid 55 can be omitted.

[0116] ​ The detector 23 shown includes a first propagation member 22b1 and a second propagation member 22b2. The first propagation member 22b1 is attached to the housing 22c of the detector 23. The first propagation member 22b1 is capable of propagating ultrasonic waves. For example, the first propagation member 22b1 is in contact with the plurality of detection elements 22a. Alternatively, another member capable of propagating ultrasonic waves can be provided between the first propagation member 22b1 and the plurality of detection elements 22a.

[0117] The second propagation member 22b2 is attached to the first propagation member 22b1. The second propagation member 22b2 can be bonded to the first propagation member 22b1, or can be fixed with respect to the first propagation member 22b1 by a fixing member not shown. The first propagation member 22b1 is located between the plurality of detection elements 22a and the second propagation member 22b2. The second propagation member 22b2 is capable of propagating ultrasonic waves. Ultrasonic waves propagated in the first propagation member 22b1 are propagated in the second propagation member 22b2, and are transmitted to the outside of the detector 23.

[0118] The first propagation member 22b1 is solid. The first propagation member 22b1 has a hardness enough not to be substantially changed when the detector 22 is operated. The second propagation member 22b2 is gel-like, not liquid. The second propagation member 22b2 is softer than the first propagation member 22b1. That is, the hardness of the second propagation member 22b2 is smaller than the hardness of the first propagation member 22b1. Therefore, the second propagation member 22b2 is easily deformed compared with the first propagation member 22b1. The first propagation member 22b1 has a flexibility enough to be deformed according to the surface shape of the inspection object when the probe is performed.

[0119] The first propagation member 22b1 and the second propagation member 22b2 contain resin. As a specific example, the first propagation member 22b1 contains acrylic acid. The second propagation member 22b2 contains block polyurethane. The acoustic impedance of a general steel plate used for joining is 4.5 x 10 7 (Pa s / m) or thereabout. It is preferable that the acoustic impedance of each of the first propagation member 22b1 and the second propagation member 22b2 is greater than 1.0 x 10 5 (Pa s / m) and less than 1.0 x 10 8 (Pa s / m) so as to sufficiently propagate the ultrasonic wave between the detector 22 and the joined body 50. The acoustic impedance can be measured in accordance with JIS A1405-1 (ISO 10534-1).

[0120] The processing system 1 can also perform the teaching method described above on the robot 20 including the detector 23 instead of the detector 22. However, in step S16 of either of the teaching methods, in a case where the detector 23 is moved along the X-Y plane, the control device 10 preferably moves the detector 23 away from the joined body 50. Since the second propagation member 22b2 is gel-like, the friction between the second propagation member 22b2 and the joined body 50 is large. If the detector 22 is moved in a state where the second propagation member 22b2 is in contact with the joined body 50, the second propagation member 22b2 can be damaged. By moving the detector 23 along the X-Y plane after moving the detector 23 away from the joined body 50, the damage of the second propagation member 22b2 can be suppressed.

[0121] ​ is a schematic diagram showing a hardware configuration.

[0122] The control device 10, the operation terminal 11, and the processing device 12 respectively include a configuration of a computer 90 as shown in FIG. 9, for example. ​ The computer 90 includes a CPU 91, a ROM 92, a RAM 93, a storage device 94, an input interface 95, an output interface 96, and a communication interface 97.

[0123] The ROM 92 stores programs that control the operation of the computer 90. In the ROM 92, programs necessary for the computer 90 to implement the above-described various processes are stored. The RAM 93 functions as a storage area in which the programs stored in the ROM 92 are developed.

[0124] The CPU 91 includes a processing circuit. The CPU 91 executes the program stored in at least either one of the ROM 92 or the storage 94, using the RAM 93 as a work memory. During the execution of the program, the CPU 91 controls the respective components via the system bus 98, and executes various processes.

[0125] The storage 94 stores data necessary for executing the program, and data obtained by executing the program.

[0126] The input interface (I / F) 95 connects the computer 90 and an input device 95a. The input I / F 95 is, for example, a serial bus interface such as USB. The CPU 91 can read various data from the input device 95a via the input I / F 95.

[0127] The output interface (I / F) 96 connects the computer 90 and an output device 96a. The output I / F 96 is, for example, a video output interface such as a digital video interface (DVI), a high-definition multimedia interface (HDMI (registered trademark)). The CPU 91 can transmit data to the output device 96a via the output I / F 96, and cause the output device 96a to display an image.

[0128] The communication interface (I / F) 97 connects a server 97a outside the computer 90 and the computer 90. The communication I / F 97 is, for example, a network card such as a LAN card. The CPU 91 can read various data from the server 97a via the communication I / F 97.

[0129] The storage 94 includes one or more selected from a hard disk drive (HDD) and a solid state drive (SSD). The input device 95a includes one or more selected from a mouse, a keyboard, a microphone (voice input), and a touch panel. The output device 96a includes one or more selected from a monitor and a projector. A device having both the functions of the input device 95a and the output device 96a, such as a touch panel, can also be used.

[0130] The functions of the control device 10 and the processing device 12 can each be implemented by cooperation of three or more computers. The functions of the control device 10 and the processing device 12 can each be implemented by one computer. The subject of the above-described various processes can be appropriately changed between the control device 10 and the processing device 12.

[0131] The processing of the various data described above can also be recorded as a program that enables a computer to execute, on a magnetic disk (floppy disk and hard disk, etc.), optical disk (CD-ROM, CD-R, CD-RW, DVD-ROM, DVD±R, DVD±RW, etc.), semiconductor memory, or other non-transitory computer-readable storage medium.

[0132] For example, information recorded on a recording medium can be read by a computer (or embedded system). In the recording medium, the recording form (storage form) is arbitrary. For example, a computer reads a program from a recording medium, and an instruction described in the program is executed by a CPU based on the program. In the computer, the acquisition (or reading) of the program can also be performed through a network.

[0133] According to the processing system, robot system, control device, teaching method, or processing method described above, the center position of the weld can be more easily set as a teaching point. By using a program that causes a computer to execute the teaching method or processing method, the center position of the weld can be more easily set as a teaching point.

[0134] The above illustrates several embodiments of the present application, but these embodiments are presented as examples and are not intended to limit the scope of the application. These new embodiments can be implemented in various other ways, and various omissions, substitutions, modifications, etc. can be made within the scope of the main idea of the application. These embodiments and their modifications are included in the scope and main idea of the application, and are included in the scope of the application and its equivalents described in the claims. In addition, the above-described embodiments can be implemented in combination with each other.

[0135] The embodiments can also include the following aspects.

[0136] (Aspect 1)

[0137] A processing system that teaches an action to a robot including a detector including a plurality of detection elements arranged along a first direction and a second direction intersecting the first direction, and a robot hand on which the detector is mounted, wherein

[0138] The processing system performs a position teaching process in which

[0139] The detector performs an investigation of transmitting an ultrasonic wave to a weld of a joint and detecting a reflected wave,

[0140] Based on first intensity data representing the intensity of the reflected wave obtained by the investigation, a center position of the weld on a first plane along the first direction and the second direction is calculated,

[0141] in a case where the distance is below a first threshold value, setting a teaching point of the robot based on the first position,

[0142] in a case where the distance exceeds the first threshold value, moving the detector along the first face to a second position to reduce the distance, and setting the teaching point based on the second position.

[0143] (Scheme 2)

[0144] The processing system according to Scheme 1, wherein

[0145] The processing system further performs a posture teaching process of:

[0146] causing the detector to perform the probe on the weld,

[0147] calculating, based on second intensity data representing intensities of the reflected waves obtained by the probe, a tilt of the detector in a first posture with respect to the weld,

[0148] in a case where the tilt is below a second threshold value, setting the teaching point based on the first posture,

[0149] in a case where the tilt exceeds the second threshold value, moving the detector to a second posture to reduce the tilt, and setting the teaching point based on the second posture.

[0150] (Scheme 3)

[0151] The processing system according to Scheme 2, wherein the posture teaching process is performed after the position teaching process.

[0152] (Scheme 4)

[0153] The processing system according to any one of Schemes 1 to 3, wherein, in the position teaching process, in a case where the distance exceeds the first threshold value, the detector is moved toward the second position after moving the detector away from the weld in a third direction perpendicular to the first face.

[0154] (Scheme 5)

[0155] The processing system according to any one of Schemes 1 to 3, wherein

[0156] in the position teaching process,

[0157] detecting the reflected waves by the detector in a state where the detector is in contact with the joint body via a liquid,

[0158] In setting the teaching point, the detector is caused to approach the weld portion in a third direction perpendicular to the first face, and the teaching point is set based on either the first position or the second position and a position in the third direction after the approach.

[0159] (Scheme 6)

[0160] The processing system according to any one of schemes 1 to 5, wherein

[0161] After the position teaching processing, the following inspection processing is performed:

[0162] The position of the detector is set to the position of the teaching point,

[0163] The detector is caused to perform the probe on a weld portion of another bonded body,

[0164] The weld portion is inspected based on third intensity data representing the intensity of the reflected wave obtained by the probe.

[0165] (Scheme 7)

[0166] The processing system according to any one of schemes 1 to 6, wherein a barycentric position of the intensity in the first intensity data is calculated as the center position.

[0167] (Scheme 8)

[0168] A robot system, wherein

[0169] The processing system according to any one of schemes 1 to 7; and

[0170] The robot.

[0171] (Scheme 9)

[0172] A control device, wherein a robot including a detector and a robot hand on which the detector is mounted is caused to perform a probe of transmission of an ultrasonic wave and detection of a reflected wave on a weld portion of a bonded body,

[0173] In a case where a distance between a center position of the weld portion calculated from a result of the probe in a first face along a two-dimensional arrangement direction of a plurality of detection elements included in the detector and a first position of the detector is equal to or less than a first threshold value, a teaching point of the robot is set based on the first position,

[0174] In a case where the distance exceeds the first threshold value, the detector is caused to move to a second position in the first face so as to reduce the distance, and the teaching point is set based on the second position.

[0175] (Scheme 10)

[0176] A teaching method for teaching an action to a robot including a detector including a plurality of detection elements arranged along a first direction and a second direction intersecting the first direction, and a robot hand on which the detector is mounted, wherein

[0177] The teaching method performs position teaching in which

[0178] The detector is caused to perform probe in which transmission of an ultrasonic wave and detection of a reflected wave are performed with respect to a welded portion of a joint body,

[0179] A center position of the welded portion on a first plane along the first direction and the second direction is calculated based on first intensity data representing intensity of the reflected wave obtained through the probe,

[0180] In a case where a distance between the center position and a first position of the detector on the first plane is equal to or less than a first threshold value, a teaching point of the robot is set based on the first position,

[0181] In a case where the distance exceeds the first threshold value, the detector is caused to move to a second position along the first plane so that the distance is reduced, and the teaching point is set based on the second position.

[0182] (Scheme 11)

[0183] The teaching method according to Scheme 10, wherein

[0184] The teaching method further performs posture teaching in which

[0185] The detector is caused to perform the probe with respect to the welded portion,

[0186] A degree of inclination of the detector in a first posture with respect to the welded portion is calculated based on second intensity data representing intensity of the reflected wave obtained through the probe,

[0187] In a case where the degree of inclination is equal to or less than a second threshold value, the teaching point is set based on the first posture,

[0188] In a case where the degree of inclination exceeds the second threshold value, the detector is caused to move to a second posture so that the degree of inclination is reduced, and the teaching point is set based on the second posture.

[0189] (Scheme 12)

[0190] The teaching method according to Scheme 11, wherein the posture teaching is performed after the position teaching.

[0191] (Scheme 13)

[0192] The teaching method according to any one of the schemes 10 to 12, wherein

[0193] In the position teaching,

[0194] The detector detects the reflected wave in a state where the detector is brought into contact with the weld via a liquid,

[0195] The detector is brought close to the weld in a third direction perpendicular to the first face when the teaching point is set, and the teaching point is set based on either the first position or the second position and a position in the third direction after the close.

[0196] (Scheme 14)

[0197] The teaching method according to any one of the schemes 10 to 13, wherein a barycentric position of the intensity in the first intensity data is calculated as the center position.

[0198] (Scheme 15)

[0199] A teaching method in which a robot including a detector and a robot hand on which the detector is mounted performs an investigation of transmission of an ultrasonic wave and detection of a reflected wave on a weld of a joint body,

[0200] In a case where a distance between a center position of the weld calculated from a result of the investigation in a first face along a two-dimensional arrangement direction of a plurality of detection elements included in the detector and a first position of the detector is equal to or less than a first threshold value, a teaching point of the robot is set based on the first position,

[0201] In a case where the distance exceeds the first threshold value, the detector is moved to a second position in the first face so as to reduce the distance, and the teaching point is set based on the second position.

[0202] (Scheme 16)

[0203] A storage medium in which a program that causes a computer to execute the teaching method according to any one of the schemes 10 to 15 is stored.

[0204] The above, several embodiments of the present application are illustrated, but these embodiments are presented as examples, and are not intended to limit the scope of the invention. These new embodiments can be implemented in other various ways, and various omissions, substitutions, changes, etc. can be made within the scope of the invention without departing from the spirit of the invention. These embodiments and their modifications are included in the scope and spirit of the invention, and are included in the scope of the invention and its equivalents described in the claims. In addition, the above-described embodiments can be implemented in combination with each other.

Claims

1. A processing system that teaches an action of a robot, the robot including a detector including a plurality of detection elements arranged in a first direction and a second direction intersecting the first direction, and a robot hand on which the detector is mounted, characterized by the processing system executing a position teaching process in which the detector performs an investigation of transmission of an ultrasonic wave to a weld portion of a joint body and detection of a reflected wave, based on first intensity data representing an intensity of the reflected wave obtained by the investigation, a center position of the weld portion on a first plane in the first direction and the second direction is calculated, in a case where a distance between the center position and a first position of the detector on the first plane is equal to or less than a first threshold value, a teaching point of the robot is set based on the first position, and a gravity position of an intensity distribution in the first intensity data is calculated as the center position, in a case where the distance exceeds the first threshold value, the detector is moved to a second position along the first plane, and the teaching point is set based on the second position, the distance between the center position and the second position being shorter than the distance between the center position and the first position, the processing system executes an inspection process for each of a plurality of joint bodies of the same kind.

2. The processing system according to claim 1, characterized by the processing system further executing a posture teaching process in which the detector performs the investigation to the weld portion, based on second intensity data representing an intensity of the reflected wave obtained by the investigation, a degree of inclination of the detector in a first posture with respect to the weld portion is calculated, in a case where the degree of inclination is equal to or less than a second threshold value, the teaching point is set based on the first posture, in a case where the degree of inclination exceeds the second threshold value, the detector is moved to a second posture, and the teaching point is set based on the second posture, the degree of inclination of the detector in the second posture with respect to the weld portion being smaller than the degree of inclination of the detector in the first posture with respect to the weld portion.

3. The processing system according to claim 2, characterized by the posture teaching process is executed after the position teaching process, the position teaching process includes the investigation, the calculation of the center position, and the setting of the teaching point.

4. The processing system according to any one of claims 1 to 3, characterized by in the position teaching process, in a case where the distance exceeds the first threshold value, the detector is moved to the second position after the detector is moved away from the weld portion in a third direction perpendicular to the first plane.

5. The processing system according to any one of claims 1 to 3, characterized by in the position teaching process, the detector detects the reflected wave in a state where the detector is in contact with the joint body via a liquid, the detector is moved to the second position after the detector is moved away from the weld portion in a third direction perpendicular to the first plane. In setting the teaching point, the detector is brought close to the weld in a third direction perpendicular to the first face, and the teaching point is set based on either the first position or the second position and a position in the third direction after the bringing close.

6. The processing system according to any one of claims 1 to 3, wherein in the inspection processing, the position of the detector is set to the position of the teaching point, the detector is caused to perform the probe on the weld included in another joining body of the same kind, the weld is inspected based on third intensity data representing the intensity of the reflected wave obtained by the probe.

7. A robot system, characterized by provided with: the processing system according to any one of claims 1 to 3; and the robot.

8. A control device characterized by comprising: causing a robot including a detector and a manipulator on which the detector is mounted to perform a probe of transmission of an ultrasonic wave and detection of a reflected wave on a weld of a joining body, in a case where a distance between a center position of the weld calculated from a result of the probe on a first face and a first position of the detector is equal to or less than a first threshold value, the first face being along a two-dimensional arrangement direction of a plurality of detection elements included in the detector, setting a teaching point of the robot based on the first position, calculating a center of gravity position of an intensity distribution in first intensity data as the center position, the first intensity data representing the intensity of the reflected wave obtained by the probe, in a case where the distance exceeds the first threshold value, causing the detector to move to a second position along the first face, and setting the teaching point based on the second position, the distance between the center position and the second position being shorter than the distance between the center position and the first position, causing the robot to perform an inspection processing on a plurality of joining bodies of the same kind, respectively.

9. A processing method characterized by, provided with: position teaching and an inspection processing after the position teaching, in the position teaching, causing a detector of a robot to perform a probe of transmission of an ultrasonic wave and detection of a reflected wave on a weld of a joining body, the detector including a plurality of detection elements arranged along a first direction and a second direction intersecting the first direction, the robot including the detector and a manipulator on which the detector is mounted, calculating a center position of the weld on a first face along the first direction and the second direction based on first intensity data representing the intensity of the reflected wave obtained by the probe, calculating a center of gravity position of an intensity distribution in the first intensity data as the center position, in a case where a distance between the center position and a first position of the detector on the first face is equal to or less than a first threshold value, setting a teaching point of the robot based on the first position, in a case where the distance exceeds the first threshold value, causing the detector to move to a second position along the first face, and setting the teaching point based on the second position, the distance between the center position and the second position being shorter than the distance between the center position and the first position, in the inspection processing, inspecting a plurality of joining bodies of the same kind, respectively.

10. The processing method according to claim 9, characterized by, further comprising teaching of a posture of the detector, causing the detector to perform the probing on the weld, calculating a tilt of the detector in the first posture with respect to the weld based on second intensity data representing intensities of the reflected waves obtained by the probing, in a case where the tilt is below a second threshold value, setting the teaching point based on the first posture, in a case where the tilt exceeds the second threshold value, causing the detector to move to a second posture so as to reduce the tilt, and setting the teaching point based on the second posture.

11. The processing method according to claim 10, characterized by, performing the teaching of the posture after the teaching of the position, the teaching of the position processing including the probing, calculating the center position, and setting the teaching point.

12. The processing method according to any one of claims 9 to 11, characterized by, in the teaching of the position, causing the detector to detect the reflected waves in a state where the detector is in contact with the weld via a liquid, causing the detector to approach the weld in a third direction perpendicular to the first face when setting the teaching point, and setting the teaching point based on either of the first position or the second position and a position in the third direction after the approach.

13. A storage medium, characterized by a program causing a computer to execute the processing method according to any one of claims 9 to 12.

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